CN201186440Y - Multiple joint robot direct-driven motor driving device - Google Patents

Multiple joint robot direct-driven motor driving device Download PDF

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Publication number
CN201186440Y
CN201186440Y CNU2007202017623U CN200720201762U CN201186440Y CN 201186440 Y CN201186440 Y CN 201186440Y CN U2007202017623 U CNU2007202017623 U CN U2007202017623U CN 200720201762 U CN200720201762 U CN 200720201762U CN 201186440 Y CN201186440 Y CN 201186440Y
Authority
CN
China
Prior art keywords
driving motor
direct driving
connection block
flange
rotating shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CNU2007202017623U
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Chinese (zh)
Inventor
柳滨
张志军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Semiconductor Equipment Institute
Original Assignee
Beijing Semiconductor Equipment Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Semiconductor Equipment Institute filed Critical Beijing Semiconductor Equipment Institute
Priority to CNU2007202017623U priority Critical patent/CN201186440Y/en
Application granted granted Critical
Publication of CN201186440Y publication Critical patent/CN201186440Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model relates to a driving device of a direct driving motor of an articulated robot, wherein a rotating shaft is a hollow shaft which is traversed through the centers of a driving direct driving motor and a rotating direct driving motor, a connecting seat is further fixed between the driving direct driving motor and the rotating direct driving motor, the inner diameter of the upper section of the connecting seat is bigger, then a baser can be arranged in the upper section, a flange is arranged on the upper section, and the flange is connected with the lower end of the driving direct driving motor, a flange is further arranged on the lower section of the connecting seat, and the flange is connected with the upper end of the rotating direct driving motor, the lower section of the connecting seat, whose inner diameter is smaller, is fixed on an output shaft of the rotating direct driving motor, a rotating shaft is traverse through the driving direct driving motor and is sleeved with a driving flange, the driving flange and the rotating shaft are supported by a bearing, and the driving interface of the rotating direct driving shaft is connected with the upper computer. The utility model has the advantages of big force moment, high accuracy, low cost, compact structure, and the driving device is convenient for the installation and the maintenance, adopts the upper computers, such as a motion control board, a single chip microcomputer, a PLC, an impulsator and the like to control, and is suitable for the driving part of the articulated robot.

Description

Articulated robot direct driving motor drive unit
(1) technical field
The utility model relates to a kind of motor driver, particularly a kind of direct driving motor drive unit that is used to drive the joint rotation of articulated robot.
(2) background technology
Along with progress of science and technology, Robotics has been widely used in industrial and agricultural production, scientific research, every field such as civilian.Articulated robot generally has two above rotary joints, and motor driver is arranged on each joint, drives the joint and rotates, and robot end's movement locus is the synthetic of several joint motions.The end of robot data computation amount when the location is bigger, and the cost of control system is higher, and traditional motor driver is loosely organized, precision is low, be not easy control.
(3) utility model content
The purpose of this utility model provides a kind of articulated robot direct driving motor drive unit, solve that traditional motor driver is loosely organized, precision is low, do not allow manageable technical problem; And the high problem of solution direct driving motor drive unit cost.
For achieving the above object, the utility model adopts following technical scheme:
This articulated robot direct driving motor drive unit, comprise a transmission direct driving motor 5 and a rotation direct driving motor 8 of linking to each other with a rotating shaft 1, it is characterized in that: rotating shaft 1 is for running through the hollow shaft at transmission direct driving motor 5 and rotation direct driving motor 8 centers, the lower end of transmission direct driving motor 5 is connected with pedestal 9, also be fixed with a Connection Block 6 between transmission direct driving motor 5 and the rotation direct driving motor 8, the internal diameter of Connection Block 6 is the reducing shape, the epimere internal diameter of Connection Block 6 is bigger, pedestal 9 is located wherein, be that pedestal 9 embeds in the stage casing of Connection Block 6, the epimere of Connection Block 6 has a ring flange, this ring flange is connected by screw with the lower end of transmission direct driving motor 5, the hypomere of Connection Block 6 also has a ring flange, this ring flange with the rotation direct driving motor 8 the upper end be connected by screw, the less hypomere of Connection Block 6 internal diameters be fixed on the rotation direct driving motor 8 output shaft on; Above-mentioned rotating shaft 1 passes transmission direct driving motor 5 and is with drive flange 2, is supported by bearing 4 between drive flange and the rotating shaft, and bearing gland 3 compresses bearing with screw 10 and fixedlys connected with drive flange 2.The driving interface of rotation direct driving motor 8 is connected with host computer.
Described rotating shaft 1 can overlap 7 by swelling, pin or connecting key are fixedlyed connected with Connection Block 6.
Described host computer can comprise motion control card host computer, single-chip microcomputer, PLC controller and impulse generator.
Compared with prior art the utlity model has following characteristics and beneficial effect:
The utility model is made up of rotating shaft, drive flange, bearing, bearing gland, transmission direct driving motor, Connection Block, swelling cover, rotation direct driving motor.Its rotating shaft 1 adopts swelling cover 7 to be connected with Connection Block 6, and is simple in structure, centralized positioning precision height; Between rotating shaft 1 and the drive flange 2 bearing 4 is housed, can improves the rigidity of rotating shaft; Rotating shaft 1 is designed to hollow shaft, makes the various pipelines of robot front end to be hidden in wherein.Make direct driving motor develop into the device of a practicality, and have that moment is big, precision is high and characteristics such as cost is low, adopt the utility model can make that the joint part structure of articulated robot is compact more, have precision and guarantee easily, be convenient to the advantage of installation and maintenance.Motor-driven interface range of the present utility model is wider, can adopt host computers such as motion control card, single-chip microcomputer, PLC, impulse generator to control, and is applicable to the articulated robot in the various fields.
(4) description of drawings
The utility model is described in more detail below in conjunction with accompanying drawing.
Fig. 1 is a structural representation of the present utility model.
Reference numeral: 1-rotating shaft, 2-drive flange, 3-bearing gland, 4-bearing, 5-transmission direct driving motor, 6-Connection Block, 7-swelling cover, 8-rotation direct driving motor, 9-pedestal, 10-screw.
(5) specific embodiment
Embodiment is referring to shown in Figure 1, this articulated robot direct driving motor drive unit, comprise a transmission direct driving motor 5 and a rotation direct driving motor 8 of linking to each other with a rotating shaft 1, the driving interface of rotation direct driving motor 8 is connected with host computer, and described host computer comprises motion control card host computer, single-chip microcomputer, PLC controller and impulse generator.
Rotating shaft 1 is for running through the hollow shaft at transmission direct driving motor 5 and rotation direct driving motor 8 centers, the lower end of transmission direct driving motor 5 is connected with pedestal 9, also be fixed with a Connection Block 6 between transmission direct driving motor 5 and the rotation direct driving motor 8, the internal diameter of Connection Block 6 is the reducing shape, the epimere internal diameter of Connection Block 6 is bigger, pedestal 9 is located wherein, be that pedestal 9 embeds in the stage casing of Connection Block 6, the epimere of Connection Block 6 has a ring flange, this ring flange is connected by screw with the lower end of transmission direct driving motor 5, the hypomere of Connection Block 6 also has a ring flange, this ring flange with the rotation direct driving motor 8 the upper end be connected by screw, the less hypomere of Connection Block 6 internal diameters is fixed on the output shaft of rotation direct driving motor 8, and above-mentioned rotating shaft 1 can overlap 7 by swelling, pin or connecting key are fixedlyed connected with Connection Block 6.
Above-mentioned rotating shaft 1 passes transmission direct driving motor 5 and is with drive flange 2, is supported by bearing 4 between drive flange and the rotating shaft, and bearing gland 3 compresses bearing with screw 10 and fixedlys connected with drive flange 2.
The utility model is linked together by Connection Block by the output of transmission direct driving motor pedestal and rotation direct driving motor, rotating shaft passes the transmission direct driving motor and is connected with Connection Block with the swelling cover, drive flange and rotating shaft are by bearings, and bearing gland compresses bearing.The output shaft of rotation direct driving motor 8 is rotated by PC control, and driven rotary axle 1 makes transmission direct driving motor 5 rotation, and drive flange can be connected with another joint transmission mechanism, realizes that the complex track in articulated robot joint moves.

Claims (3)

1. articulated robot direct driving motor drive unit, comprise a transmission direct driving motor (5) and a rotation direct driving motor (8) of linking to each other with a rotating shaft (1), it is characterized in that: rotating shaft (1) is for running through the hollow shaft at transmission direct driving motor (5) and rotation direct driving motor (8) center, the lower end of transmission direct driving motor (5) is connected with pedestal (9), also be fixed with a Connection Block (6) between transmission direct driving motor (5) and the rotation direct driving motor (8), the internal diameter of Connection Block (6) is the reducing shape, the epimere internal diameter of Connection Block (6) is bigger, pedestal (9) is located wherein, be that pedestal (9) embeds in the stage casing of Connection Block (6), the epimere of Connection Block (6) has a ring flange, this ring flange is connected by screw with the lower end of transmission direct driving motor (5), the hypomere of Connection Block (6) also has a ring flange, this ring flange with the rotation direct driving motor (8) the upper end be connected by screw, the less hypomere of Connection Block (6) internal diameter be fixed on the rotation direct driving motor (8) output shaft on; Above-mentioned rotating shaft (1) passes transmission direct driving motor (5) and is with drive flange (2), is supported by bearing (4) between drive flange and the rotating shaft, and bearing gland (3) compresses bearing with screw (10) and fixedlys connected with drive flange (2); The driving interface of rotation direct driving motor (8) is connected with host computer.
2. articulated robot direct driving motor drive unit according to claim 1 is characterized in that: described rotating shaft (1) is fixedlyed connected with Connection Block (6) by swelling cover (7), pin or connecting key.
3. articulated robot direct driving motor drive unit according to claim 1 and 2 is characterized in that: described host computer comprises motion control card host computer, single-chip microcomputer, PLC controller and impulse generator.
CNU2007202017623U 2007-12-25 2007-12-25 Multiple joint robot direct-driven motor driving device Expired - Fee Related CN201186440Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU2007202017623U CN201186440Y (en) 2007-12-25 2007-12-25 Multiple joint robot direct-driven motor driving device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU2007202017623U CN201186440Y (en) 2007-12-25 2007-12-25 Multiple joint robot direct-driven motor driving device

Publications (1)

Publication Number Publication Date
CN201186440Y true CN201186440Y (en) 2009-01-28

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Family Applications (1)

Application Number Title Priority Date Filing Date
CNU2007202017623U Expired - Fee Related CN201186440Y (en) 2007-12-25 2007-12-25 Multiple joint robot direct-driven motor driving device

Country Status (1)

Country Link
CN (1) CN201186440Y (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101863031A (en) * 2010-05-25 2010-10-20 中国电子科技集团公司第四十五研究所 Multi-dimensional manipulator driving device for special equipment of semiconductor
CN103323270A (en) * 2012-03-23 2013-09-25 李红伟 Novel industrial robot detector
CN104708620A (en) * 2013-12-10 2015-06-17 上银科技股份有限公司 Selective compliance assembly robot
CN105599006A (en) * 2016-03-23 2016-05-25 华南理工大学 Two-motor driven variable-stiffness elastic joint of robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101863031A (en) * 2010-05-25 2010-10-20 中国电子科技集团公司第四十五研究所 Multi-dimensional manipulator driving device for special equipment of semiconductor
CN101863031B (en) * 2010-05-25 2012-06-13 北京中电科电子装备有限公司 Multi-dimensional manipulator driving device for special equipment of semiconductor
CN103323270A (en) * 2012-03-23 2013-09-25 李红伟 Novel industrial robot detector
CN104708620A (en) * 2013-12-10 2015-06-17 上银科技股份有限公司 Selective compliance assembly robot
CN105599006A (en) * 2016-03-23 2016-05-25 华南理工大学 Two-motor driven variable-stiffness elastic joint of robot

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Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20090128

Termination date: 20131225